# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
aggregate SurfaceComms {
arguments {
SurfaceDepthRate = NaN meter_per_second
SurfacePitch = 20 degree
SurfaceSpeed = 1.0 meter_per_second
IridiumTimeout = 30 minute
UnpackSplitAtSurface = false
}
run in sequence
behavior Guidance:GoToSurface {
run in progression
set depthRate = SurfaceDepthRate
set pitch = SurfacePitch
set speed = SurfaceSpeed
}
aggregate {
run in sequence
break if ( UnpackSplitAtSurface == false )
syslog "##UnpackSplit##"
}
aggregate {
run in sequence
preemptive ( true )
readDatum {
Universal:latitude_fix
}
readDatum {
timeout duration=IridiumTimeout
Universal:platform_communications
}
readDatum {
Universal:latitude_fix
}
}
}